CN103792580A - Method for acquiring pre-drawn shot point of towline exploration navigation - Google Patents

Abstract

The invention relates to the technical field of offshore oil seismic exploration technology, in particular to a method for acquiring a pre-drawn shot point of towline exploration navigation. The method comprises the following steps: respectively converting geodetic coordinates of a measuring line starting point and a measuring line end point into corresponding measuring line coordinates; calculating a measuring line grid azimuth; calculating the planar projection coordinate of the pre-drawn shot point; converting the planar projection coordinate of the obtained pre-drawn shot point into a geodetic coordinate of the pre-drawn shot point, and judging whether the process is finished. Another method comprises the steps: calculating a geodesic line azimuth of a measuring line; calculating the geodetic coordinate of the pre-drawn shot point; converting the geodetic coordinate of the pre-drawn shot point into a planar projection coordinate; judging whether the process is finished. The method for acquiring the pre-drawn shot point of the towline exploration navigation has the advantages of being concise, efficient and high in algorithm precision and avoiding the influence of errors.

Description

Before a kind of towing cable exploration navigation, paint the acquisition methods of shot point

Technical field

The present invention relates to offshore oil seismic exploration technical field, particularly before a kind of marine streamer seismic prospecting, paint the acquisition methods of shot point.

Background technology

In offshore shooting, streamer seismic exploration is main method of exploration, seismic vessel pulls one or more cable, along with rifle battle array excites, trailing cable is seismic wave reflectance data locality, boat-carrying positioning equipment gathers navigation positioning data, and positioning precision is directly connected to Seismic Operation operating efficiency and acquisition precision.Before to paint shot point be on survey line, to configure all theoretical sp location that rings on this survey line providing in advance according to work area in offshore shooting, before operation, provide in advance the distance between survey line starting point and adjacent shot point, according to the difference of work pattern, calculate the exact position of theoretical banger point on survey line, according to configuration, to paint shot point banger before rifle battle array central point or CMP point or the arrival of reference vessel point, estimate banger point and front paint shotpoint spacing from more approaching, think that precision is higher, be reflected in operation quality, operation quality is higher.But the front theoretical position of painting shot point is difficult to obtain, banger precision is difficult to grasp.

Summary of the invention

(1) technical matters that will solve

A technical matters that will solve of the present invention has been to provide the acquisition methods of painting shot point coordinate before a kind of efficiency is higher, precision is higher towing cable exploration navigation.

The technical matters that another will solve of the present invention has been to provide the acquisition methods of painting shot point coordinate before another kind of efficiency is higher, precision is higher towing cable exploration navigation.

An also technical matters that will solve of the present invention has been to provide the acquisition methods of painting shot point coordinate before a kind of selectable towing cable exploration navigation, before use, user its can choice for use before one of two kinds of methods

。

(2) technical scheme

For the technical theme of painting the acquisition methods of shot point coordinate before towing cable exploration navigation, the present invention is achieved by the following technical solutions:

For a kind of technical scheme of method, before a kind of towing cable exploration navigation, paint the acquisition methods of shot point, comprise the steps:

Step F 1: define a survey line in survey area, one end of described survey line is survey line starting point, and the other end of described survey line is end of line, the corresponding terrestrial coordinate of described survey line starting point and the terrestrial coordinate of described end of line of obtaining; And definition is about to carry out initial big gun number, big gun increment value and the shot interval of operation;

Step F 2: the terrestrial coordinate of survey line starting point is converted to the plane projection coordinate of survey line starting point, the terrestrial coordinate of end of line is converted to the plane projection coordinate of end of line;

Step F 3: according to the plane projection coordinate of the planimetric coordinates of the survey line starting point obtaining and end of line, calculate survey line grid azimuth;

Step F 4: according to the plane projection coordinate of the survey line grid azimuth obtaining, described initial big gun number, described big gun increment value, described shot interval and survey line starting point, paint the plane projection coordinate of shot point before calculating;

Step F 5: paint shot point before judgement and whether be greater than described shot interval to the distance of end of line, paint shot point if front and be more than or equal to described shot interval to the distance of end of line, paint the plane projection coordinate of shot point before the continuation reckoning next one; If paint shot point front and be less than described shot interval to the distance of end of line, current shot point is on described survey line and paints shot point before last, calculates and finishes.

Further, described step F 2 specifically comprises:

According to formula

$\left\{\begin{array}{c}x=\mathrm{FN}+0.9996\left[\begin{array}{c}S+\frac{l^{2}N}{2}\sin B+\frac{l^4}{24}\mathrm{NB}{\cos }^{3}B(5-t^2+{9\mathrm{\η}}^2+{4\mathrm{\η}}^2)+\\ \frac{l^6}{720}N\sin B{\cos }^{5}B(61-{58t}^2+t^2)\end{array}\right]\\ y=\mathrm{FE}+0.9996[\mathrm{lN}\cos B+\frac{l^{3}N}{6}{\cos }^{3}B(1-t^2+{\mathrm{\η}}^2)+\frac{l^{5}N}{120}{\cos }^5(1-{18t}^2+{14\mathrm{\η}}^2-{58\mathrm{\η}}^2{t}^2)]\end{array}\right.$

The terrestrial coordinate of survey line starting point is converted to the plane projection coordinate of survey line starting point, the terrestrial coordinate of end of line is converted to the plane projection coordinate of end of line;

Wherein, (x, y) the plane projection coordinate of corresponding unknown point, B, L are respectively geodetic latitude and the geodetic longitude of the terrestrial coordinate of unknown point; S is the meridian arc length that unknown point is arrived in equator; L=L-L0, be the relative central meridian L0 of unknown point longitude L through poor; N is the radius of curvature in prime vertical of unknown point; S and N can try to achieve according to the parameter of WGS-84 ellipsoid, and the 0.9996th, utm projection scale factor, t=tanB, η=e'cosB, e' is the second excentricity of reference ellipsoid, east is to skew FE=500000 rice; The skew FN Northern Hemisphere=0, north and south, the FN the Southern Hemisphere=10000000 meter;

Wherein, at the plane projection coordinate time that calculates survey line starting point, described unknown point is described survey line starting point; At the plane projection coordinate time that calculates end of line, described unknown point is described end of line.

Further, described step F 3 specifically comprises the steps:

Step F 301: according to formula

calculate survey line length;

Step F 302: according to formula calculate survey line grid azimuth;

Wherein A is survey line grid azimuth, (x ₀, y ₀) be the plane projection coordinate of described survey line starting point, (x _e, y _e) be the plane projection coordinate of described end of line.

Further, described step F 4 specifically comprises:

According to formula $\begin{array}{c}{x}_n=(n-n_0)D\cos A+x_0\\ y_n=(n-n_0)D\sin A+y_0\end{array}$ Before calculating, paint the plane projection coordinate of shot point;

Wherein, (x ₀, y ₀) be the plane projection coordinate of described survey line starting point, (x _n, y _n) painting the plane projection coordinate of shot point before required n big gun, n is big gun number, n ₀be described initial big gun number, A is survey line grid azimuth, and D is described shot interval.

Further, described step F 4 also comprises: the terrestrial coordinate of painting shot point before the plane projection coordinate conversion of painting shot point before obtaining is become.

Further, the described terrestrial coordinate of painting shot point before the plane projection coordinate conversion of painting shot point before obtaining is become specifically comprises: according to formula

$\left\{\begin{array}{c}B=B_f-\frac{N_f\mathrm{tsn}{B}_f}{R_f}\left[\begin{array}{c}\frac{D^2}{2}-(5+{3T}_f+{10C}_f-{4C}_f^2-9e{\′}^2)\frac{D^4}{24}\sin B\cos B+\\ (91+{91T}_f+{298C}_f+{45T}_f^2-{252e\′}^2-{3C}_f^2)\frac{D^6}{720}\end{array}\right]\\ L=L0+\frac{1}{\cos B_f}\left[\begin{array}{c}D-(1+{2T}_f+V_f)\frac{D^3}{6}+\frac{l^{3}N}{6}{\cos }^{3}N(1-t^2+{\mathrm{\η}}^2)\\ +(5-{2C}_f-{3C}_f^2+{8e\′}^2+{24T}_f^2)\frac{D^5}{120}\end{array}\right]\end{array}\right.$

Before by the plane projection coordinate conversion of painting shot point before obtaining being, paint the terrestrial coordinate of shot point;

Wherein, B, L are the terrestrial coordinate of painting shot point before to be asked, and L0 is central meridian longitude, by front painting shot point coordinate (x _n, y _n), ellipsoid the first eccentric ratio e, the second eccentric ratio e ', this radius of curvature in prime vertical N on reference ellipsoid, semimajor axis of ellipsoid a, the reference ellipsoid parameters such as semiminor axis of ellipsoid b are calculated.B _f, C _f, T _f, D, the parameters such as η are all the auxiliary parameters in computation process.

For the technical scheme of another kind of method, before a kind of towing cable exploration navigation, paint the acquisition methods of shot point, comprise the steps:

Step S1: define a survey line in survey area, one end of described survey line is survey line starting point, and the other end of described survey line is end of line, the corresponding terrestrial coordinate of described survey line starting point and the terrestrial coordinate of described end of line of obtaining; And definition is about to carry out initial big gun number, big gun increment value and the shot interval of operation;

Step S2: according to the terrestrial coordinate of the terrestrial coordinate of described survey line starting point and described end of line, calculate survey line geodesic line position angle;

Step S3: according to the terrestrial coordinate of survey line geodesic line position angle, survey line starting point, described initial big gun number, described big gun increment value and described shot interval, paint the terrestrial coordinate of shot point before calculating;

Step S4: paint shot point before judgement and whether be greater than described shot interval to the distance of end of line, paint shot point if front and be more than or equal to described shot interval to the distance of end of line, paint the terrestrial coordinate of shot point before the continuation reckoning next one; If paint shot point front and be less than described shot interval to the distance of end of line, current shot point is on described survey line and paints shot point before last, calculates and finishes.

Further, described step S2 specifically comprises the steps:

Step S201: the terrestrial coordinate of the terrestrial coordinate of described survey line starting point and described end of line is projected to respectively on the sphere of the auxiliary ball take ellipsoid center as the centre of sphere, obtain respectively the auxiliary ball coordinate of survey line starting point and the auxiliary ball coordinate of end of line;

Step S202: resolve on the sphere of described auxiliary ball, the auxiliary ball coordinate that obtains survey line starting point is auxiliary arc length and the auxiliary square parallactic angle on described auxiliary ball to the auxiliary ball coordinate of end of line;

Step S203: the auxiliary arc length obtaining and the reduction of auxiliary square parallactic angle, to ellipsoid, are obtained to survey line geodesic line length and the survey line geodesic line position angle of survey line starting point to end of line.

Further, described step S3 specifically comprises the steps:

Step S301: by the terrestrial coordinate of survey line starting point, survey line geodesic line position angle and paint shot point and described survey line starting point before pushing away geodesic line length project on the sphere of the auxiliary ball take ellipsoid center as the centre of sphere;

Step S302: resolve on the sphere of described auxiliary ball, paint the auxiliary ball coordinate of shot point before obtaining;

Step S303: the auxiliary ball coordinate reduction of front painting shot point, to ellipsoid, is painted to the terrestrial coordinate of shot point before obtaining.

Further, described step S3 also comprises: the plane projection coordinate of painting shot point before the terrestrial coordinate of painting shot point before obtaining is converted to.

Further, the described plane projection coordinate of painting shot point before the terrestrial coordinate of painting shot point before obtaining is converted to specifically comprises: according to formula

$\left\{\begin{array}{c}x=\mathrm{FN}+0.9996\left[\begin{array}{c}S+\frac{l^{2}N}{2}\sin B+\frac{l^4}{24}\mathrm{NB}{\cos }^{3}B(5-t^2+{9\mathrm{\η}}^2+{4\mathrm{\η}}^2)+\\ \frac{l^6}{720}N\sin B{\cos }^{5}B(61-{58t}^2+t^2)\end{array}\right]\\ y=\mathrm{FE}+0.9996[\mathrm{lN}\cos B+\frac{l^{3}N}{6}{\cos }^{3}B(1-t^2+{\mathrm{\η}}^2)+\frac{l^{5}N}{120}{\cos }^5(1-{18t}^2+{14\mathrm{\η}}^2-{58\mathrm{\η}}^2{t}^2)]\end{array}\right.$

Before being converted to, paints the terrestrial coordinate of painting shot point before obtaining the plane projection coordinate of shot point;

Wherein, x, y are respectively the plane projection coordinate of unknown point, and B, L are respectively geodetic latitude and the geodetic longitude of unknown point, S is the meridian arc length that unknown point is arrived in equator, l=L-L0, be the relative central meridian L0 of unknown point longitude L through poor, N is the radius of curvature in prime vertical of this point, S, N try to achieve according to the parameter of WGS-84 ellipsoid, the 0.9996th, utm projection scale factor, t=tanB, η=e'cosB, e' is the second excentricity of reference ellipsoid, and east is to skew FE=500000 rice; The skew FN Northern Hemisphere=0, north and south, the FN the Southern Hemisphere=10000000 meter;

The unknown point is here painted shot point before being.

For a kind of technical scheme of method also, before a kind of towing cable exploration navigation, paint the acquisition methods of shot point, comprise the steps:

Judge the computation schema that user selects; If the computation schema that user selects is plane projection pattern, perform step F; If the computation schema that user selects is geodesic line pattern, perform step S;

Wherein said step F specifically comprises:

Step F 1: define a survey line in survey area, one end of described survey line is survey line starting point, and the other end of described survey line is end of line, the corresponding terrestrial coordinate of described survey line starting point and the terrestrial coordinate of described end of line of obtaining; And definition is about to carry out initial big gun number, big gun increment value and the shot interval of operation;

Step F 2: the terrestrial coordinate of survey line starting point is converted to the plane projection coordinate of survey line starting point, the terrestrial coordinate of end of line is converted to the plane projection coordinate of end of line;

Step F 3: according to the plane projection coordinate of the planimetric coordinates of the survey line starting point obtaining and end of line, calculate survey line grid azimuth;

Step F 4: according to the plane projection coordinate of the survey line grid azimuth obtaining, described initial big gun number, described big gun increment value, described shot interval and survey line starting point, paint the plane projection coordinate of shot point before calculating;

Step F 5: paint shot point before judgement and whether be greater than described shot interval to the distance of end of line, paint shot point if front and be more than or equal to described shot interval to the distance of end of line, paint the plane projection coordinate of shot point before the continuation reckoning next one; If paint shot point front and be less than described shot interval to the distance of end of line, current shot point is on described survey line and paints shot point before last, calculates and finishes.

Described step S specifically comprises:

Step S1: define a survey line in survey area, one end of described survey line is survey line starting point, and the other end of described survey line is end of line, the corresponding terrestrial coordinate of described survey line starting point and the terrestrial coordinate of described end of line of obtaining; And definition is about to carry out initial big gun number, big gun increment value and the shot interval of operation;

Step S2: according to the terrestrial coordinate of the terrestrial coordinate of described survey line starting point and described end of line, calculate survey line geodesic line position angle;

Step S3: according to the terrestrial coordinate of survey line geodesic line position angle, survey line starting point, described initial big gun number, described big gun increment value and described shot interval, paint the terrestrial coordinate of shot point before calculating;

Step S4: paint shot point before judgement and whether be greater than described shot interval to the distance of end of line, paint shot point if front and be more than or equal to described shot interval to the distance of end of line, paint the terrestrial coordinate of shot point before the continuation reckoning next one; If paint shot point front and be less than described shot interval to the distance of end of line, current shot point is on described survey line and paints shot point before last, calculates and finishes.

(3) beneficial effect

Compare with product with prior art, the present invention has the following advantages:

By succinct, efficiently algorithm realized respectively under geodesic line pattern and plane projection mode before paint the calculating coordinate of shot point, there is degree of precision;

In the coordinate computation process to front painting shot point, a little position reckoning all by survey line starting point start calculate, avoided the impact of truncation error, and can calculate respectively to two ends along survey line;

The calculating of painting shot point coordinate before supporting under plane projection pattern and geodesic line pattern.

Accompanying drawing explanation

Fig. 1 is the schematic flow sheet of a kind of embodiment of the present invention;

Fig. 2 is work area, survey line and the front schematic diagram of painting shot point.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described further:

In three steps: data input, select the pattern of blowing out, calculating coordinate.First the method inputs starting point longitude and latitude and the shot interval of survey line, in order to guarantee to resolve the precision of coordinate, number of seconds position need be remained to 2 significant digits.Then selecting computation schema, is respectively two kinds of geodesic line pattern and plane grid patterns.The exact position of painting shot point before finally calculating by calculating coordinate, relate to the many positive back projects of general transverse axis China ink card, the positive inverse of terrestrial coordinate, and mutual conversion between various form longitudes and latitudes etc., before having realized in offshore shooting, paint the terrestrial coordinate of shot point and resolving of plane projection coordinate, manual intervention is few, and calculation accuracy is high.

The present invention is specifically made up of following steps, with reference to figure 1, is described in detail as follows:

Step 1: data input

Main input starting point longitude and latitude, initial big gun number, four parameters of big gun increment value and shot interval, its physical significance is described as follows referring to Fig. 2: survey line is generally customer requirement or provides in advance, and the survey line starting point coordinate that operating personnel provides according to client is explored; Starting and terminal point is specified, and initial big gun number is also specified; The starting point of survey line is exactly initial shot point, and initial big gun number is specified, such as, initial big gun number is 1000, and increment value is 1, and shot interval is 25 meters, and next big gun is that big gun number is 1001 along the line direction position of 25 meters forward.All shot points are all on survey line.

Can from starting point to go to terminal direction calculate paint shot point coordinate, also can from starting point calculate round about survey line reverse extending line paint shot point coordinate.

Step 2: blow out model selection

Select the different patterns of blowing out, can produce before different and paint shot point coordinate.Two kinds of patterns of blowing out the most frequently used in offshore shooting operation are respectively geodesic line pattern and plane projection mode.The terrestrial reference system that two kinds of patterns adopt is 1984 world geodetic systems (WGS-84), its initial point is positioned at earth centroid, the geometric parameter of its ellipsoid is: semimajor axis of ellipsoid a6378137.0m, ellipticity f1/298.257223563, other several parameters of ellipsoid are as semiminor axis of ellipsoid, and excentricity etc. all can be tried to achieve by these two parameters.

Step 3: calculating coordinate

Calculating coordinate is painted the key component that shot point coordinate calculates before being, be divided into following four large tasks: the mutual conversion between terrestrial coordinate and planimetric coordinates, and calculate at survey line position angle, and the front shot point coordinate of painting calculates and judges whether to calculate end.

(1) the mutual conversion between terrestrial coordinate and plane projection coordinate: seismic vessel is in exploration process, and the survey line starting point position and the work area scope that provide are terrestrial coordinate is terrestrial coordinate and plane projection coordinate thereof and paint the requirement of shot point coordinate before final.Therefore need by coordinate conversion and calculating, paint plane projection coordinate and the terrestrial coordinate of shot point before obtaining under survey line starting point and two kinds of patterns.In offshore shooting operation, the most frequently used projection pattern is general Mercator projection (utm projection), and the formula of its coordinate conversion is as follows:

The utm projection that is converted to plane projection coordinate (x, y) by terrestrial coordinate (B, L) is just being calculated formula (precision is ± 0.001 meter):

$\left\{\begin{array}{c}x=\mathrm{FN}+0.9996\left[\begin{array}{c}S+\frac{l^{2}N}{2}\sin B+\frac{l^4}{24}\mathrm{NB}{\cos }^{3}B(5-t^2+{9\mathrm{\η}}^2+{4\mathrm{\η}}^2)+\\ \frac{l^6}{720}N\sin B{\cos }^{5}B(61-{58t}^2+t^2)\end{array}\right]\\ y=\mathrm{FE}+0.9996[\mathrm{lN}\cos B+\frac{l^{3}N}{6}{\cos }^{3}B(1-t^2+{\mathrm{\η}}^2)+\frac{l^{5}N}{120}{\cos }^5(1-{18t}^2+{14\mathrm{\η}}^2-{58\mathrm{\η}}^2{t}^2)]\end{array}\right.$

Wherein, B, L are geodetic latitude and the geodetic longitude of this point, and S is the meridian arc length that this point is arrived in equator, l=L-L0, be the relative central meridian L0 of this longitude L through poor, N is the radius of curvature in prime vertical of this point, and S, N try to achieve according to the parameter of WGS-84 ellipsoid, the 0.9996th, and utm projection scale factor, t=tanB, η=e'cosB, e' is the second excentricity of reference ellipsoid, east is to skew FE=500000 rice; The skew FN Northern Hemisphere=0, north and south, the FN the Southern Hemisphere=10000000 meter;

By plane projection coordinate (x, y) be converted to terrestrial coordinate (B, L) Mo Kaduo (UTM) projection inversion formula (result is take " degree " as unit, and precision is ± 0.0001 "):

$\left\{\begin{array}{c}B=B_f-\frac{N_f\mathrm{tsn}{B}_f}{R_f}\left[\begin{array}{c}\frac{D^2}{2}-(5+{3T}_f+{10C}_f-{4C}_f^2-9e{\′}^2)\frac{D^4}{24}\sin B\cos B+\\ (91+{91T}_f+{298C}_f+{45T}_f^2-{252e\′}^2-{3C}_f^2)\frac{D^6}{720}\end{array}\right]\\ L=L0+\frac{1}{\cos B_f}\left[\begin{array}{c}D-(1+{2T}_f+V_f)\frac{D^3}{6}+\frac{l^{3}N}{6}{\cos }^{3}N(1-t^2+{\mathrm{\η}}^2)\\ +(5-{2C}_f-{3C}_f^2+{8e\′}^2+{24T}_f^2)\frac{D^5}{120}\end{array}\right]\end{array}\right.$

Wherein:

L0 is central meridian longitude, B _f, C _f, T _f, D, η and N _fall the auxiliary parameters in computation process etc. parameter, by plane projection coordinate (x, y), ellipsoid the first eccentric ratio e, the second eccentric ratio e ', this radius of curvature in prime vertical N on reference ellipsoid, semimajor axis of ellipsoid a, the reference ellipsoid parameters such as semiminor axis of ellipsoid b are calculated.

More specifically:

$N_f=\frac{(a^2/b)}{\sqrt{1+{e\′}^2*{\cos }^2{B}_f}}=\frac{a}{\sqrt{1-{e\′}^2*{\sin }^2{B}_f}}$

$B_f=\frac{a(1-e_2)}{{(1-e^2*{\sin }^2{B}_f)}^{3/2}}$

$e_1=\frac{1-b/a}{1+b/a}$

M _f=(X _none FW)/k ₀

T _f=tan ²B _fC _f=e′ ²cos ²B _f

$D=\frac{Y_E-\mathrm{FE}}{k_0{N}_f}$

Wherein e is ellipsoid the first excentricity, and e' is ellipsoid the second excentricity, and N is the radius of curvature in prime vertical of this point, and a is semimajor axis of ellipsoid, and b is semiminor axis of ellipsoid.

Particularly, other is respectively measured such as X _n, k ₀, Y _e, N _f, R _fdeng, be the conventional variablees of those skilled in the art, geodesy basis [M] publishing house of PLA that for example can write referring to Lv Zhiping, Zhang Jianjun, Qiao Shubo, 2005.

(2) calculate at survey line position angle

Before paint shot point coordinate reckoning need starting point coordinate, shot interval, big gun number and survey line are apart from four, position angle parameter, wherein first three parameter is all known, therefore the azimuthal calculating of survey line is painted one of key issue of shot point calculating coordinate before being.

For example, survey line starting point P _s, known its terrestrial coordinate is (B ₀, L ₀), the corresponding big gun numbers 10000 of painting before initial, big gun number increases progressively along line direction, and shot interval is n rice, end of line P _e, known its terrestrial coordinate is (B _e, L _e).

Under plane projection pattern: first by coordinate conversion by survey line starting point P _sand P _eterrestrial coordinate just calculating and transferring plane projection coordinate (x to by utm projection ₀, y ₀), (x _e, y _e), then under plane right-angle coordinate, ask survey line distance and bearing angle:

Distance: $S=\sqrt{{(y_e-y_0)}^2+{(x_e-x_0)}^2}$

Position angle: $A=\arcsin \left(\frac{y_e-y_0}{S}\right)$

Wherein, after quadrant judgement need to be carried out in position angle, addition constant is only real position angle.

Survey line under geodesic line pattern calculates need to carry out inverse geodetic problem, i.e. known P _sand P _eterrestrial coordinate (the B of 2 ₀, L ₀) and (B _e, L _e), solve P _sto P _elength S and the A of the geodesic line of point.It is Bezier inverse geodetic problem method that this patent adopts, and the ultimate principle of the Bezier solution of geodetic problem is that model rises take ellipsoid center as the centre of sphere, to grow arbitrarily the auxiliary ball as radius, and resolves by following step:

1. by ellipsoid element (P _sand P _eterrestrial coordinate) project on sphere;

2. on auxiliary ball sphere, resolve spherical triangle, try to achieve P _sto P _ethe arc length S on auxiliary spherical surface of point ' and position angle A.

3. by sphere element (P _sto P _epoint the arc length S on auxiliary spherical surface ' and position angle A) reduction to ellipsoid, try to achieve P _sto P _elength S and the position angle A of the geodesic line of point.

Wherein remain unchanged in reduction process at position angle A.

Below, provide according to above-mentioned principle computer azimuth angle object lesson:

Survey line position angle under planar grid pattern and the calculating of distance are comparatively simple, and the survey line under geodesic line pattern calculates need to carry out inverse geodetic problem, i.e. known P ₁and P ₂terrestrial coordinate (the B of 2 ₁, L ₁) and (B ₂, L ₂), solve P ₁to P ₂length and the position angle of the geodesic line of point, there is at present multiple method of carrying out Geodetic Problem calculating, what this patent adopted is the positive inverse of Bezier Geodetic Problem, the ultimate principle of the Bezier solution of geodetic problem is that model rises take ellipsoid center as the centre of sphere, to grow arbitrarily the auxiliary ball as radius, and resolve by three steps:

1. by certain condition, ellipsoid element is projected on sphere;

2. on sphere, resolve geodetic problem;

3. the sphere element of trying to achieve is scaled to corresponding ellipsoid element by projection relation.

Wherein, three projection conditions of Bezier geodetic problem clearing formula are:

1. be the parametric latitude that the sphere latitude put on sphere after projection equals corresponding point on ellipsoid;

2. on ellipsoid, the geodesic line of point-to-point transmission projects on auxiliary spherical surface as orthodrome;

3. after geodetic azimuth projection, numerical value is constant.

The whole flow process of inverse geodetic problem is:

(a) ellipsoid element projects on sphere

1. calculate μ by B:

${\tan u}_1=\sqrt{1-e^2}\tan B_1$

${\tan u}_2=\sqrt{1-e^2}\tan B_2$

2. by ask through poor l team win the match on face through poor O:

l=λ+sinm[α'σ+β'sinσcos(2M+σ)]

Its

$\mathrm{\α}\′=(\frac{1}{2}+\frac{e^2}{8}-\frac{1}{16}{k\′}^2)e^2-\frac{e^2}{16}(1+e^2){k\′}^2+\frac{3}{128}{e}^2{k\′}^4$

$\mathrm{\β}\′=\mathrm{\ρ}\′\′[\frac{e^2}{16}(1+e^2){k\′}^2-\frac{e^2}{32}{k\′}^4]$

k' ²e ²cos ²m

σ, M, m, need iterative computation.

(b) resolve spherical triangle

1. ask σ:

cosσ=sinu ₁sinu ₂+cosu ₂cosu ₂cosλ

2. ask A ₁, A ₂:

${\tan A}_1=\frac{\sin \mathrm{\λ}}{{\cos u}_1{\tan u}_2-{\sin u}_1\cos \mathrm{\λ}}$

${\tan A}_2=\frac{\sin \mathrm{\λ}}{{\cos u}_2\cos \mathrm{\λ}-{\tan u}_1\cos u_2}$

(c) by the reduction of sphere element to ellipsoid

1. A ₁, A ₂without conversion;

2. σ is converted to S

$S=\frac{1}{\mathrm{\α}}[\mathrm{\ρ}-\mathrm{\β}\sin \mathrm{\σ}\cos (2M+\mathrm{\σ})+\mathrm{\γ}\sin 2\mathrm{\σ}\cos (4M+2\mathrm{\σ})]$

(d) judge quadrant

(3) the front shot point coordinate of painting calculates:

According to starting point coordinate, survey line position angle, shot interval and big gun number, can extrapolate the coordinate of each shot point, the impact of calculating front painting shot point coordinate for fear of truncation error, the calculating of painting shot point coordinate before each is counted by starting point coordinate.

Under plane projection pattern, front computing formula of painting shot point is as follows:

x _n(n-n ₀)DcosA+x ₀

y _n(n-n ₀)DsinA+y ₀

Wherein (x ₀, y ₀) be the plane projection coordinate of starting point, (x _n, y _n) painting shot point coordinate before required n big gun, n is big gun number, n ₀be initial big gun number, A is survey line position angle, and D is shot interval.

Under geodesic line pattern, front calculating of painting shot point is all to calculate on geodesic line, need to adopt the method for normal geodetic problem to calculate, so-called normal geodetic problem, i.e. known P _sterrestrial coordinate (the B of point ₀, L ₀) and P _sto P _nlength S and the position angle A of point, ask P _nterrestrial coordinate (the B of point _n, L _n), wherein S (n-n ₀) D, D is shot interval.The main flow process of normal geodetic problem is:

1. ellipsoid element projects on sphere, and the length S of geodesic line and position angle A are converted into sphere element (P _sto P _epoint the arc length S on auxiliary spherical surface ' and position angle A):

2. resolve spherical triangle, try to achieve P _nthe spherical surface position that point is corresponding;

3. by sphere element (P _nspherical surface position corresponding to point) reduction to ellipsoid, obtain P _nterrestrial coordinate (the B of point _n, L _n);

Wherein remain unchanged in reduction process at position angle A.After painting the terrestrial coordinate of shot point before extrapolating, also need it to carry out utm projection conversion, to paint the plane projection coordinate that shot point is corresponding before obtaining.

The main flow process of above-mentioned normal geodetic problem is described with an example below:

(a) ellipsoid element projects on sphere:

1) by B ₁ask u ₁:

${\tan u}_1=\sqrt{1-e^2}{\tan B}_1$

2) calculate auxiliary quantity m and M:

$\tan M=\frac{{\tan u}_1}{{\cos A}_1}$

sinm=cosu ₁sinA ₁

3) S is converted into σ:

V ₀DS，i=1,2,...

V _i=αS+βsinσ _i- ₁cos(2M+σ _i- ₁)+γsin2σ _i- ₁cos(4M+2σ _i- ₁)

$\mathrm{\α}=\frac{\mathrm{\ρ}\sqrt{1+{e\′}^2}}{\mathrm{\α}}(1-\frac{k^2}{4}+\frac{7}{64}{k}^4-\frac{15}{256}{k}^6)$

$\mathrm{\β}=\mathrm{\ρ}(\frac{k^2}{4}-\frac{1}{8}{k}^4+\frac{37}{512}{k}^6)$

$\mathrm{\γ}=\mathrm{\ρ}(\frac{1}{128}{k}^4-\frac{1}{128}{k}^6)$

k ²e' ²cos ²m

Wherein the unit of V is degree, when

time, stop iteration.

(b) resolve spherical triangle:

Ask A ₂, u ₂, λ:

${\mathrm{tsnA}}_2={\tan A\′}_2=\frac{\tan m}{\cos (M+\mathrm{\σ})}$

tanu ₂-cosA ₂tan(M+σ)

tanλ ₁=sinmtanM=sinu ₁tanA ₁

tanμ ₂=sinmtan(M+σ)=sinu ₂tanA ₂

λ=λ ₂-λ ₁

(c) by the reduction of sphere element to ellipsoid:

1) by u ₂ask B ₂:

${\tan B}_2=\sqrt{1-e^2}\tan u_2$

2) ask L ₂:

L ₂=L ₁+l

l=O-sinm[α'σ+β'sinσcos(2M+σ)+γ'sin2σcos(4M+2σ)]

$\mathrm{\α}\′=(\frac{1}{2}+\frac{e^2}{8}-\frac{1}{16}{k\′}^2)e^2-\frac{e^2}{16}(1+e^2){k\′}^2+\frac{3}{128}{e}^2{k\′}^4$

$\mathrm{\β}\′=\mathrm{\ρ}\′\′[\frac{e^2}{16}(1+e^2){k\′}^2-\frac{e^2}{32}{k\′}^4]$

$\mathrm{\γ}\′=\mathrm{\ρ}\′\′\frac{e^2}{256}{k\′}^4$

k' ²e ²cos ²m

(4) judge and calculate whether finish:

After painting shot point coordinate before calculating, also need once to judge, finish to determine whether to calculate, the standard of judgement is whether the current shot point of painting is greater than shot interval to the distance of end of line, if be greater than, continues to calculate next point coordinate, if be less than, calculate and finish.

Give an example, release after current shot point coordinate, such as the coordinate of 1050 big guns, suppose that big gun number increases progressively, next big gun big gun number is 1051, and survey line starting point is constant, be the skew quantitative change of the relative survey line starting point of shot point coordinate of 1051 big guns, the distance of terminal has also become relatively simultaneously.If 1050 big guns are from start point distance from being 1000 meters, 25 meters of shot intervals, next big gun is from survey line start point distance from being just 1025 meters, if plane projection pattern, X skew and Y skew all will increase immediately, can release the XY coordinate of 1051 according to this side-play amount, geodesic line pattern is also like this, only corresponding is the skew of longitude and latitude, releases after the coordinate of 1051 big guns, then calculates the distance of 1051 big guns to terminal, if be greater than shot interval, continue to push away 1052 big guns, if be less than shot interval, calculate and finish.

The invention has the advantages that:

The present invention by succinct, efficiently algorithm realized respectively under geodesic line pattern and plane projection mode before paint the calculating coordinate of shot point, there is degree of precision.

In the coordinate computation process to front painting shot point, a little position reckoning all by survey line starting point start calculate, avoided the impact of truncation error, and can calculate respectively to two ends along survey line.

In addition, those skilled in the art also will be understood that, what geodesic line pattern was used in computation process always is longitude and latitude, all planimetric coordinates and plane projection pattern is calculated use always, can make so under every kind of pattern before paint shot point all will to have earth coordinates and plane projection be the coordinate under these two kinds of coordinate systems, namely the coordinate under each pattern can be changed mutually.

Claims (12)

1. an acquisition methods of painting shot point before towing cable exploration navigation, is characterized in that, comprises the steps:

Step F 1: define a survey line in survey area, one end of described survey line is survey line starting point, and the other end of described survey line is end of line, the corresponding terrestrial coordinate of described survey line starting point and the terrestrial coordinate of described end of line of obtaining; And definition is about to carry out initial big gun number, big gun increment value and the shot interval of operation;

Step F 2: the terrestrial coordinate of survey line starting point is converted to the plane projection coordinate of survey line starting point, the terrestrial coordinate of end of line is converted to the plane projection coordinate of end of line;

Step F 3: according to the plane projection coordinate of the planimetric coordinates of the survey line starting point obtaining and end of line, calculate survey line grid azimuth;

Step F 4: according to the plane projection coordinate of the survey line grid azimuth obtaining, described initial big gun number, described big gun increment value, described shot interval and survey line starting point, paint the plane projection coordinate of shot point before calculating;

Step F 5: paint shot point before judgement and whether be greater than described shot interval to the distance of end of line, paint shot point if front and be more than or equal to described shot interval to the distance of end of line, paint the plane projection coordinate of shot point before the continuation reckoning next one; If paint shot point front and be less than described shot interval to the distance of end of line, current shot point is on described survey line and paints shot point before last, calculates and finishes.

2. the acquisition methods of painting shot point before towing cable exploration navigation according to claim 1, is characterized in that, described step F 2 specifically comprises:

According to formula

$\left\{\begin{array}{c}x=\mathrm{FN}+0.9996\left[\begin{array}{c}S+\frac{l^{2}N}{2}\sin B+\frac{l^4}{24}\mathrm{NB}{\cos }^{3}B(5-t^2+{9\mathrm{\η}}^2+{4\mathrm{\η}}^2)+\\ \frac{l^6}{720}N\sin B{\cos }^{5}B(61-{58t}^2+t^2)\end{array}\right]\\ y=\mathrm{FE}+0.9996[\mathrm{lN}\cos B+\frac{l^{3}N}{6}{\cos }^{3}B(1-t^2+{\mathrm{\η}}^2)+\frac{l^{5}N}{120}{\cos }^5(1-{18t}^2+{14\mathrm{\η}}^2-{58\mathrm{\η}}^2{t}^2)]\end{array}\right.$

The terrestrial coordinate of survey line starting point is converted to the plane projection coordinate of survey line starting point, the terrestrial coordinate of end of line is converted to the plane projection coordinate of end of line;

Wherein, (x, y) the plane projection coordinate of corresponding unknown point, B, L are respectively geodetic latitude and the geodetic longitude of the terrestrial coordinate of unknown point; S is the meridian arc length that unknown point is arrived in equator; L=L-L0, be the relative central meridian L0 of unknown point longitude L through poor; N is the radius of curvature in prime vertical of unknown point; S and N can try to achieve according to the parameter of WGS-84 ellipsoid, and the 0.9996th, utm projection scale factor, t=tanB, η=e'cosB, e' is the second excentricity of reference ellipsoid, east is to skew FE=500000 rice; The skew FN Northern Hemisphere=0, north and south, the FN the Southern Hemisphere=10000000 meter;

Wherein, at the plane projection coordinate time that calculates survey line starting point, described unknown point is described survey line starting point; At the plane projection coordinate time that calculates end of line, described unknown point is described end of line.

3. the acquisition methods of painting shot point before towing cable exploration navigation according to claim 1, is characterized in that, described step F 3 specifically comprises the steps:

Step F 301: according to formula

calculate survey line length;

Step F 302: according to formula

calculate survey line grid azimuth;

Wherein A is survey line grid azimuth, (x ₀, y ₀) be the plane projection coordinate of described survey line starting point, (x _e, y _e) be the plane projection coordinate of described end of line.

4. the acquisition methods of painting shot point before towing cable exploration navigation according to claim 1, is characterized in that, described step F 4 specifically comprises:

According to formula $\begin{array}{c}{x}_n=(n-n_0)D\cos A+x_0\\ y_n=(n-n_0)D\sin A+y_0\end{array}$ Before calculating, paint the plane projection coordinate of shot point;

Wherein, (x ₀, y ₀) be the plane projection coordinate of described survey line starting point, (x _n, y _n) painting the plane projection coordinate of shot point before required n big gun, n is big gun number, n ₀be described initial big gun number, A is survey line grid azimuth, and D is described shot interval.

5. the acquisition methods of painting shot point before towing cable exploration navigation according to claim 1, is characterized in that, described step F 4 also comprises: the terrestrial coordinate of painting shot point before the plane projection coordinate conversion of painting shot point before obtaining is become.

6. the acquisition methods of painting shot point before towing cable according to claim 5 exploration navigation, is characterized in that, the described terrestrial coordinate of painting shot point before the plane projection coordinate conversion of painting shot point before obtaining is become specifically comprises: according to formula

$\left\{\begin{array}{c}B=B_f-\frac{N_f\mathrm{tsn}{B}_f}{R_f}\left[\begin{array}{c}\frac{D^2}{2}-(5+{3T}_f+{10C}_f-{4C}_f^2-9e{\′}^2)\frac{D^4}{24}\sin B\cos B+\\ (91+{91T}_f+{298C}_f+{45T}_f^2-{252e\′}^2-{3C}_f^2)\frac{D^6}{720}\end{array}\right]\\ L=L0+\frac{1}{\cos B_f}\left[\begin{array}{c}D-(1+{2T}_f+V_f)\frac{D^3}{6}+\frac{l^{3}N}{6}{\cos }^{3}N(1-t^2+{\mathrm{\η}}^2)\\ +(5-{2C}_f-{3C}_f^2+{8e\′}^2+{24T}_f^2)\frac{D^5}{120}\end{array}\right]\end{array}\right.$

Before by the plane projection coordinate conversion of painting shot point before obtaining being, paint the terrestrial coordinate of shot point;

Wherein, B, L are the terrestrial coordinate of painting shot point before to be asked, and L0 is central meridian longitude, by front painting shot point coordinate (x _n, y _n), ellipsoid the first eccentric ratio e, the second eccentric ratio e ', this radius of curvature in prime vertical N on reference ellipsoid, semimajor axis of ellipsoid a, the reference ellipsoid parameters such as semiminor axis of ellipsoid b are calculated; B _f, C _f, T _f, D, the parameters such as K are all the auxiliary parameters in computation process.

7. an acquisition methods of painting shot point before towing cable exploration navigation, is characterized in that, comprises the steps:

Step S1: define a survey line in survey area, one end of described survey line is survey line starting point, and the other end of described survey line is end of line, the corresponding terrestrial coordinate of described survey line starting point and the terrestrial coordinate of described end of line of obtaining; And definition is about to carry out initial big gun number, big gun increment value and the shot interval of operation;

Step S2: according to the terrestrial coordinate of the terrestrial coordinate of described survey line starting point and described end of line, calculate survey line geodesic line position angle;

Step S3: according to the terrestrial coordinate of survey line geodesic line position angle, survey line starting point, described initial big gun number, described big gun increment value and described shot interval, paint the terrestrial coordinate of shot point before calculating;

Step S4: paint shot point before judgement and whether be greater than described shot interval to the distance of end of line, paint shot point if front and be more than or equal to described shot interval to the distance of end of line, paint the terrestrial coordinate of shot point before the continuation reckoning next one; If paint shot point front and be less than described shot interval to the distance of end of line, current shot point is on described survey line and paints shot point before last, calculates and finishes.

8. the acquisition methods of painting shot point before towing cable exploration navigation according to claim 7, is characterized in that, described step S2 specifically comprises the steps:

Step S201: the terrestrial coordinate of the terrestrial coordinate of described survey line starting point and described end of line is projected to respectively on the sphere of the auxiliary ball take ellipsoid center as the centre of sphere, obtain respectively the auxiliary ball coordinate of survey line starting point and the auxiliary ball coordinate of end of line;

Step S202: resolve on the sphere of described auxiliary ball, the auxiliary ball coordinate that obtains survey line starting point is auxiliary arc length and the auxiliary square parallactic angle on described auxiliary ball to the auxiliary ball coordinate of end of line;

Step S203: the auxiliary arc length obtaining and the reduction of auxiliary square parallactic angle, to ellipsoid, are obtained to survey line geodesic line length and the survey line geodesic line position angle of survey line starting point to end of line.

9. the acquisition methods of painting shot point before towing cable exploration navigation according to claim 7, is characterized in that, described step S3 specifically comprises the steps:

Step S301: by the terrestrial coordinate of survey line starting point, survey line geodesic line position angle and paint shot point and described survey line starting point before pushing away geodesic line length project on the sphere of the auxiliary ball take ellipsoid center as the centre of sphere;

Step S302: resolve on the sphere of described auxiliary ball, paint the auxiliary ball coordinate of shot point before obtaining;

Step S303: the auxiliary ball coordinate reduction of front painting shot point, to ellipsoid, is painted to the terrestrial coordinate of shot point before obtaining.

10. the acquisition methods of painting shot point before towing cable exploration navigation according to claim 7, is characterized in that, described step S3 also comprises: the plane projection coordinate of painting shot point before the terrestrial coordinate of painting shot point before obtaining is converted to.

The acquisition methods of painting shot point before 11. towing cables according to claim 10 exploration navigation, is characterized in that, the described plane projection coordinate of painting shot point before the terrestrial coordinate of painting shot point before obtaining is converted to specifically comprises: according to formula

$\left\{\begin{array}{c}x=\mathrm{FN}+0.9996\left[\begin{array}{c}S+\frac{l^{2}N}{2}\sin B+\frac{l^4}{24}\mathrm{NB}{\cos }^{3}B(5-t^2+{9\mathrm{\η}}^2+{4\mathrm{\η}}^2)+\\ \frac{l^6}{720}N\sin B{\cos }^{5}B(61-{58t}^2+t^2)\end{array}\right]\\ y=\mathrm{FE}+0.9996[\mathrm{lN}\cos B+\frac{l^{3}N}{6}{\cos }^{3}B(1-t^2+{\mathrm{\η}}^2)+\frac{l^{5}N}{120}{\cos }^5(1-{18t}^2+{14\mathrm{\η}}^2-{58\mathrm{\η}}^2{t}^2)]\end{array}\right.$

Before being converted to, paints the terrestrial coordinate of painting shot point before obtaining the plane projection coordinate of shot point;

Wherein, x, y are respectively the plane projection coordinate of unknown point, and B, L are respectively geodetic latitude and the geodetic longitude of unknown point, S is the meridian arc length that unknown point is arrived in equator, l=L-L0, be the relative central meridian L0 of unknown point longitude L through poor, N is the radius of curvature in prime vertical of this point, S, N try to achieve according to the parameter of WGS-84 ellipsoid, the 0.9996th, utm projection scale factor, t=tanB, η=e'cosB, e' is the second excentricity of reference ellipsoid, and east is to skew FE=500000 rice; The skew FN Northern Hemisphere=0, north and south, the FN the Southern Hemisphere=10000000 meter;

The unknown point is here painted shot point before being.

The acquisition methods of painting shot point before 12. 1 kinds of towing cable exploration navigation, is characterized in that, comprises the steps:

Judge the computation schema that user selects; If the computation schema that user selects is plane projection pattern, perform step F; If the computation schema that user selects is geodesic line pattern, perform step S;

Wherein said step F specifically comprises:

Step F 1: define a survey line in survey area, one end of described survey line is survey line starting point, and the other end of described survey line is end of line, the corresponding terrestrial coordinate of described survey line starting point and the terrestrial coordinate of described end of line of obtaining; And definition is about to carry out initial big gun number, big gun increment value and the shot interval of operation;

Step F 2: the terrestrial coordinate of survey line starting point is converted to the plane projection coordinate of survey line starting point, the terrestrial coordinate of end of line is converted to the plane projection coordinate of end of line;

Step F 3: according to the plane projection coordinate of the planimetric coordinates of the survey line starting point obtaining and end of line, calculate survey line grid azimuth;

Step F 4: according to the plane projection coordinate of the survey line grid azimuth obtaining, described initial big gun number, described big gun increment value, described shot interval and survey line starting point, paint the plane projection coordinate of shot point before calculating;

Step F 5: paint shot point before judgement and whether be greater than described shot interval to the distance of end of line, paint shot point if front and be more than or equal to described shot interval to the distance of end of line, paint the plane projection coordinate of shot point before the continuation reckoning next one; If paint shot point front and be less than described shot interval to the distance of end of line, current shot point is on described survey line and paints shot point before last, calculates and finishes;

Described step S specifically comprises:

Step S1: define a survey line in survey area, one end of described survey line is survey line starting point, and the other end of described survey line is end of line, the corresponding terrestrial coordinate of described survey line starting point and the terrestrial coordinate of described end of line of obtaining; And definition is about to carry out initial big gun number, big gun increment value and the shot interval of operation;

Step S2: according to the terrestrial coordinate of the terrestrial coordinate of described survey line starting point and described end of line, calculate survey line geodesic line position angle;

Step S3: according to the terrestrial coordinate of survey line geodesic line position angle, survey line starting point, described initial big gun number, described big gun increment value and described shot interval, paint the terrestrial coordinate of shot point before calculating;

Step S4: paint shot point before judgement and whether be greater than described shot interval to the distance of end of line, paint shot point if front and be more than or equal to described shot interval to the distance of end of line, paint the terrestrial coordinate of shot point before the continuation reckoning next one; If paint shot point front and be less than described shot interval to the distance of end of line, current shot point is on described survey line and paints shot point before last, calculates and finishes.

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